Maintenance: Re-homing an axis

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This system initially had problemsissues with couplers,couplers. and whenWhen a coupler is replaced, the axis needs tomust be re-homed to reset the absolute encoders. 

The process involvesrequires tellinginstructing the Yaskawa servo drive to forget its current absolute encoder positionposition. number.This That will triggertriggers the servo drive into adrive's re-home mode.response. Within the software, theThe homing motion direction is already set,configured, and the home switches are correctly positioned.
Normally

we have

Typically, de-reference commands configuredare set up for all axes. Until that is complete, Ithese willinstructions give you the slightly less pretty instructions, but theythat will work onfor allany axes.
Firstaxis.

determine

Identify the instance and motor number that needs to be re-homed. I will give you the current list as well as how to pull this list up.

Current list As an example the back dado is Saw Gantry Y (#2.1). That means it is instance #2, and motor 1.

How to access the current list Disable the software Pull down the configure menu, select Plugins… then select RapidPath - at the bottom of the list. A new window will open. Click the drives tab at the top of the window, and you will see the list at the left. Don’t make any changes here. You just need toJust determine the instance and motor number to de-reference.

1. Click on the service tab – at the bottom, then the maintenance tab – at the top.
2. On the left side of the screen is a column of buttons. The enable button is at the bottom. The next button above that is the CMDS (Commands) button. Click View List.
3. A window will open with a list of commands. At the top there is a search bar. Search for Lua
4. 
5. It should highlight the Run Lua Script. Click the Run Command button at the bottom.
6. A new window will open and you need to type in the de-reference command 

   m.DeReferenceAxis (motor,instance) (opposite of how it is listed above)
   examples:
   saw gantry Y: m.DeReferenceAxis (1,2)
   left clamps: m.DeReferenceAxis (5,0)
   left dado X: m.DeReferenceAxis (0,1)

7. Click the Run Lua Code button, and it will give you a completion status
8. Click the Compile scripts button
9. Close the Lua code window
10. Close the Run Commands window
11. 
12. Switch to the correct instance
13. Click the service tab at the bottom and the Maintenance tab at the top
14. Click the enable button. You should now have the Homing buttons in the middle of the screen, and the axis to re-home should be alternating red and yellow.
15. Click the home button for that axis, then cycle start

The axis should move to the home switch, reset that axis’ machine zero, and the axis letter should change to black. 
You are ready to run.